/********************************************************************************** * File Name: GPS.c * Function Describe:device for GPS * Relate Module: ***********************************************************************************/ #define THIS_FILE_ID 112 /* Includes ------------------------------------------------------------------*/ #include "GPS.h" #include "includes.h" SUT_GPS_INF sutGpsInfo; const static unsigned char SetBDEnCmd[]={ 0xB5,0x62,0x06,0x3E,0x2C,0x00,0x00,0x00,0x20,0x05,0x00,0x08,0x10,0x00,0x01,0x00,0x01,0x01,0x01,0x01,0x03,0x00,0x00,0x00,0x01,0x01,0x03, 0x08,0x10,0x00,0x01,0x00,0x01,0x01,0x05,0x00,0x03,0x00,0x00,0x00,0x01,0x01,0x06,0x08,0x0E,0x00,0x00,0x00,0x01,0x01,0xFD,0x25,0xB5,0x62, 0x06,0x17,0x14,0x00,0x00,0x40,0x00,0x02,0x00,0x00,0x00,0x00,0x01,0x00,0x00,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x75,0x50,0xB5, 0x62,0x05,0x01,0x02,0x00,0x06,0x17,0x25,0x4E }; void GpsInit(void) { GPIO_InitTypeDef GPIO_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOC, ENABLE); GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz; GPIO_InitStructure.GPIO_Pin = GPS_PWR_PIN; GPIO_Init(GPS_PWR_PORT, &GPIO_InitStructure); memset(&sutGpsInfo,0,sizeof(SUT_GPS_INF)); GPS_PWR_DIS; FEED_EXTWATCHDOG();//喂狗 IWDG_ReloadCounter();//喂狗 os_dly_wait(50); FEED_EXTWATCHDOG();//喂狗 IWDG_ReloadCounter();//喂狗 GPS_PWR_EN; RunMake(THIS_FILE_ID); os_dly_wait(1); Uart2Init(); #if GPS_TYPE==GPS_TYPE_UBLOX //UBlox方案才需要发如下指令给GPS模块，启动北斗功能 os_dly_wait(50); FEED_EXTWATCHDOG();//喂狗 IWDG_ReloadCounter();//喂狗 Uart2Send((char *)SetBDEnCmd,sizeof(SetBDEnCmd)); os_dly_wait(50); FEED_EXTWATCHDOG();//喂狗 IWDG_ReloadCounter();//喂狗 Uart2Send((char *)SetBDEnCmd,sizeof(SetBDEnCmd)); #endif } int HEX_2_INT32(int hex_val) { char tmp_buf[13] = {0}; int val; sprintf(tmp_buf, "%x", hex_val); val = atoi (tmp_buf); return val; } static unsigned char translate_digitAscii_to_bcd(char *ascii_number, unsigned char len, char *bcd_number) { int i, j; char temp[10] = ""; /* extra + and NULL */ unsigned char bcd_index = 0; /* Index into output bcd_number */ int num_len = len; /* Translate or skip over invalid characters */ for (i = 0, j = 0; i < num_len; i++) { temp[j++] = ascii_number[i] & 0x0F; } ascii_number[len] = 0; /* Now that temp has the bcd codes in natural order... Squish them together * and reverse the order per bcd coding. */ for (i = 0; i < j; i+=2) bcd_number[bcd_index++] = ((char)(temp[i] << 4)) | temp[i+1]; bcd_number[len] = 0; return 0; } /*===================================== UTC time:hms status latitue north? longitue east? ??(?) ??? UTC time ??? ?? ?? checksum $GPRMC hhmmss.sss A/V ddmm.mmmm N/S dddmm.mmmm E/W speed aspect ddmmyy 000-180 E/W A/D/E/N *hh For example: $GPRMC,024813.640,A,3158.4608,N,11848.3737,E,10.05,324.27,150706,,,A*50 */ #define GPRMC_UTC1_TOKEN_INDEX 0 #define GPRMC_STATUS_TOKEN_INDEX 1 #define GPRMC_LATITUE_TOKEN_INDEX 2 #define GPRMC_NORTH_TOKEN_INDEX 3 #define GPRMC_longitue_TOKEN_INDEX 4 #define GPRMC_EAST_TOKEN_INDEX 5 #define GPRMC_SPEED_TOKEN_INDEX 6 #define GPRMC_ASPECT_TOKEN_INDEX 7 #define GPRMC_UTC2_TOKEN_INDEX 8 /* 从str找到第一个字符为ch的位置返回其位置 位置从0开始计算 */ int FindChIndex(char *str,char ch) { char *p=str; int i=0; while(*p){ if(*p==ch)return i; i++; p++; } } /************************************************************************************* *process_gps_number 获取卫星个数 $GPGSA,A,3,33,14,22,27,31,32,08,35,21,,,,1.6,1.1,1.2*38 $BDGSA,A,3,01,02,03,04,08,09,13,06,,,,,1.6,1.1,1.2*26 **************************************************************************************/ void process_gps_number(char *buf,uint32_t size) { int flag=0; int i,j,num; char ch,ch1,ch2; if(buf[1]=='G' && buf[2]=='P')flag=1; else if(buf[1]=='B' && buf[2]=='D') flag=2; else return; i=11;j=0;num=0; while(i='0' && ch<='9'){ i+=2; num++; }else{//非法 break; } } if(flag==1){ sutGpsInfo.GPSNum=num; }else if(flag==2){ sutGpsInfo.BDNum=num; } } /************************************************************************************* *process_gps_data **************************************************************************************/ void process_gps_data(char *buf,uint32_t size) { char tmp_char[16] = {0}; char bcd_tmp[8] = {0}; char *token[16] = {NULL}; char size_each_token[16] = {0}; unsigned char hh,hl; unsigned char token_index = 0; char ch; int i = 0; int index = 0; int dig_bit_num = 0; int ptr_each = 0; unsigned short speed; unsigned short aspect; double speed_jie = 0.0; token[token_index] = buf; RunMake(THIS_FILE_ID); while(index < size ) { if(buf[index] == ',') { size_each_token[token_index] = ptr_each; if(ptr_each == 0) token[token_index] = NULL; ptr_each = 0; token_index++; token[token_index] = buf+index+1; //skip this ',' if(*(token[token_index]+1) == '*') { size_each_token[token_index] = 1; //cut of *hh\r\n } } else { ptr_each++; } index++; } RunMake(THIS_FILE_ID); //UTC time:hms //014216 = 01:42:16 if(token[GPRMC_UTC1_TOKEN_INDEX]) { //,040831.00, 一般长度为9 if(size_each_token[0]<6 && size_each_token[0]>10){ //printf("GPS Error1 %d\r\n",size_each_token[0]); return; } strncpy((char*)tmp_char,(char*)token[0],size_each_token[0]); translate_digitAscii_to_bcd(tmp_char,6,bcd_tmp); //??.xx sutGpsInfo.hour=bcd_tmp[0]; sutGpsInfo.minu = bcd_tmp[1]; sutGpsInfo.sec = bcd_tmp[2]; } RunMake(THIS_FILE_ID); //UTC2 //250219 = 19-02-25 if(token[GPRMC_UTC2_TOKEN_INDEX]) { memset(tmp_char , 0 ,sizeof(tmp_char)); memset(bcd_tmp , 0 ,sizeof(bcd_tmp)); if(size_each_token[GPRMC_UTC2_TOKEN_INDEX]!=6){ //printf("GPS Error2\r\n"); return; } strncpy((char*)tmp_char,(char*)token[GPRMC_UTC2_TOKEN_INDEX],size_each_token[GPRMC_UTC2_TOKEN_INDEX]); translate_digitAscii_to_bcd(tmp_char,6,bcd_tmp); sutGpsInfo.day = bcd_tmp[0]; sutGpsInfo.month= bcd_tmp[1]; sutGpsInfo.year = bcd_tmp[2]; } RunMake(THIS_FILE_ID); //Fix status if(token[GPRMC_STATUS_TOKEN_INDEX]) { memset(tmp_char , 0 ,sizeof(tmp_char)); if(size_each_token[1]!=1){ SlwTrace(DEBUG,"GpsDataError!\r\n"); return; } strncpy((char*)tmp_char,(char*)token[1],size_each_token[1]); if(*tmp_char == 'A'){ sutGpsInfo.isGpsValid = 1; }else{ sutGpsInfo.isGpsValid = 0; sutGpsInfo.Altitude=0; sutGpsInfo.Latitude=0; sutGpsInfo.Longitude=0; sutGpsInfo.Aspect=0; sutGpsInfo.Speed=0; return; } } RunMake(THIS_FILE_ID); //latitude ?? /*===================================== UTC time:hms status latitue north? longitue east? ??(?) ??? UTC time ??? ?? ?? checksum $GPRMC hhmmss.ss A/V ddmm.mmmm N/S dddmm.mmmm E/W speed aspect ddmmyy 000-180 E/W A/D/E/N *hh For example: $GPRMC,024813.640,A,3158.4608,N,11848.3737,E,010.5,324.7,150706,,,A*50 */ if(token[GPRMC_LATITUE_TOKEN_INDEX]) { ch=*token[GPRMC_NORTH_TOKEN_INDEX]; char *p=token[GPRMC_LATITUE_TOKEN_INDEX]; //Ublox格式：ddmm.mmmmm //中科微电格式：ddmm.mmmm int ddmm=atoi(p); int mmmmm=atoi((p+5)); int dd=ddmm/100; int mm=ddmm%100; //double fmm=(double)mm+(double)mmmmm/100000.0; //sutGpsInfo.latitude=(double)dd+fmm/60.0; sutGpsInfo.Latitude=dd*1000000;//度 放大1000000倍，整数部分 mm*=1000000; #if GPS_TYPE==GPS_TYPE_UBLOX mmmmm*=10; #else mmmmm*=100; #endif mm+=mmmmm;//分 放大1000000倍 dd=mm/60;//度 放大1000000倍 小数部分 sutGpsInfo.Latitude+=dd;//度 放大1000000倍 if(ch=='S'){ sutGpsInfo.South=1; }else{ sutGpsInfo.South=0; } //sprintf(sutGpsInfo.vv1,"%d%d.%d\r\n",dd,mm,mmmm); } //longitude ?? if(token[GPRMC_longitue_TOKEN_INDEX]) {//dddmm.mmmmm,E/W #if 0 memset(tmp_char , 0 ,sizeof(tmp_char)); memset(bcd_tmp , 0 ,sizeof(bcd_tmp)); RunMake(THIS_FILE_ID); strncpy((char*)tmp_char,(char*)token[4],size_each_token[4]); for(i = 5; i < 8;i++) tmp_char[i] = tmp_char[i+1]; tmp_char[8] = 0; translate_digitAscii_to_bcd(tmp_char,8,bcd_tmp); //??.xx RunMake(THIS_FILE_ID); //east or west if(token[GPRMC_EAST_TOKEN_INDEX]) { memset(tmp_char , 0 ,sizeof(tmp_char)); strncpy((char*)tmp_char,(char*)token[5],size_each_token[5]); sutGpsInfo.EWFlag=*tmp_char; sutGpsInfo.longitude = (bcd_tmp[3] | (bcd_tmp[2] << 8) |(bcd_tmp[1] << 16) |(bcd_tmp[0] << 24)); } #else ch=*token[GPRMC_EAST_TOKEN_INDEX]; if(ch=='W')sutGpsInfo.West=1; else sutGpsInfo.West=0; char *p=token[GPRMC_longitue_TOKEN_INDEX]; int dddmm=atoi(p); int mmmmm=atoi((p+6)); int ddd=dddmm/100; int mm=dddmm%100; //double fmm=(double)mm+(double)mmmmm/100000.0; //sutGpsInfo.longitude=(double)ddd+fmm/60.0; sutGpsInfo.Longitude=ddd*1000000;//度 放大1000000倍 整数部分 mm*=1000000; #if GPS_TYPE==GPS_TYPE_UBLOX mmmmm*=10; #else mmmmm*=100; #endif mm+=mmmmm;//分 放大1000000倍 ddd=mm/60;//度 放大1000000倍 小数部分 sutGpsInfo.Longitude+=ddd; #endif } //Speed //0.094 if(token[GPRMC_SPEED_TOKEN_INDEX]) { RunMake(THIS_FILE_ID); memset(tmp_char , 0 ,sizeof(tmp_char)); strncpy((char*)tmp_char,(char*)token[GPRMC_SPEED_TOKEN_INDEX],size_each_token[GPRMC_SPEED_TOKEN_INDEX]); index = 0; while(index < size_each_token[GPRMC_SPEED_TOKEN_INDEX]) { if(tmp_char[index] == '.')break; index++; } dig_bit_num = size_each_token[GPRMC_SPEED_TOKEN_INDEX]-index-1; RunMake(THIS_FILE_ID); speed_jie = atoi(tmp_char); if(dig_bit_num>0)speed_jie += (tmp_char[index+1]-0x30)*0.1; //sutGpsInfo.Speed=(int)(speed_jie/0.1852);// 1/10 km/h sutGpsInfo.Speed=(int)(speed_jie*18.52);// 1/10 km } RunMake(THIS_FILE_ID); //Aspect ?? if(token[GPRMC_ASPECT_TOKEN_INDEX]) { memset(tmp_char , 0 ,sizeof(tmp_char)); if(size_each_token[GPRMC_ASPECT_TOKEN_INDEX]==0){ sutGpsInfo.Aspect=0; }else{ strncpy((char*)tmp_char,(char*)token[GPRMC_ASPECT_TOKEN_INDEX],size_each_token[GPRMC_ASPECT_TOKEN_INDEX]); aspect=atoi(tmp_char); sutGpsInfo.Aspect= aspect; } }else sutGpsInfo.Aspect=0; RunMake(THIS_FILE_ID); } #ifdef GPS_DEBUG_VALID static unsigned char sucTimeH,sucTimeL; static unsigned long susTime=(7*3600+30*60+0); static unsigned long sucLatitue=0x02237542;//; static unsigned long sucLongitue=0x11401316;//; #endif /************************************************************************************* process_nema **************************************************************************************/ void process_nema(char *nema) { static int susTime=61200; uint8_t sucTimeH,sucTimeL; static unsigned char sucCt=0; int len; len=strlen(nema); //$GPRMC or $GNRMC or $GPGSA or $BDGSA if(nema[0]!='$')return; if(nema[3]=='R' && nema[4]=='M' && nema[5]=='C'){ //获取时间、经纬度、速度、方位 process_gps_data(&nema[7],len); } // else if(nema[3]=='G' && nema[4]=='S' && nema[5]=='A'){ // //获取使用卫星个数 // process_gps_number(&nema[0],len); // } #ifdef GPS_DEBUG_VALID SlwTrace(DEBUG,"GPS_DEBUG_VALID!!!"); if(sutGpsInfo.isGpsValid==0){ sutGpsInfo.isGpsValid=1; sutGpsInfo.latitue=sucLatitue; sutGpsInfo.longitue=sucLongitue; sutGpsInfo.speed=0x4321; sutGpsInfo.aspect=0x7654; sutGpsInfo.StatisticsMile=0x123456; sutGpsInfo.year=0x15; sutGpsInfo.month=0x07; sutGpsInfo.day=0x26; susTime++; sutGpsInfo.hour=(unsigned char)(susTime/3600); sutGpsInfo.minu=(unsigned char)((susTime%3600)/60); sutGpsInfo.sec=(unsigned char)(susTime%60); sucTimeH=sutGpsInfo.hour/10; sucTimeL=sutGpsInfo.hour%10; sutGpsInfo.hour=(sucTimeH<<4)+sucTimeL; sucTimeH=sutGpsInfo.minu/10; sucTimeL=sutGpsInfo.minu%10; sutGpsInfo.minu=(sucTimeH<<4)+sucTimeL; sucTimeH=sutGpsInfo.sec/10; sucTimeL=sutGpsInfo.sec%10; sutGpsInfo.sec=(sucTimeH<<4)+sucTimeL; } #endif } /* UTC（BCD） 时间转换为 北京时间 unsigned short Years; char Months; char Days; char Hours; char Minute; char Seconds; */ void GpsConversionTime(void) { unsigned short t; if(sutGpsInfo.year==0){ sutGpsInfo.Years=0; sutGpsInfo.Months=0; sutGpsInfo.Days=0; sutGpsInfo.Hours=0; sutGpsInfo.Minute=0; sutGpsInfo.Seconds=0; return; } #if 0 //test sutGpsInfo.year=0x19; sutGpsInfo.month=0x02; sutGpsInfo.day=0x28; sutGpsInfo.hour=0x20; #endif t=sutGpsInfo.year>>4; t*=10; t+=(sutGpsInfo.year&0x0f); sutGpsInfo.Years=2000+t; t=sutGpsInfo.month>>4; t*=10; t+=(sutGpsInfo.month&0x0f); sutGpsInfo.Months=t; t=sutGpsInfo.day>>4; t*=10; t+=(sutGpsInfo.day&0x0f); sutGpsInfo.Days=t; t=sutGpsInfo.hour>>4; t*=10; t+=(sutGpsInfo.hour&0x0f); sutGpsInfo.Hours=t; t=sutGpsInfo.minu>>4; t*=10; t+=(sutGpsInfo.minu&0x0f); sutGpsInfo.Minute=t; t=sutGpsInfo.sec>>4; t*=10; t+=(sutGpsInfo.sec&0x0f); sutGpsInfo.Seconds=t; //转换为北京时间 sutGpsInfo.Hours+=8; if(sutGpsInfo.Hours>23){ sutGpsInfo.Hours-=24; if(++sutGpsInfo.Days>MonthDays(sutGpsInfo.Years,sutGpsInfo.Months)){ sutGpsInfo.Days=1; if(++sutGpsInfo.Months>12){ sutGpsInfo.Months=1; sutGpsInfo.Years++; } } } }